In this paper, an adaptive sliding mode technique based on a fractional-order (FO) switching-type control law is designed to guarantee robust stability for uncertain 3D FO nonlinear systems. A novel FO switching-type control law is proposed to ensure the existence of the sliding motion in finite time. Appropriate adaptive laws are shown to tackle the uncertainty and external disturbance. The calculation formula of the reaching time is analyzed and computed. The reachability analysis is visualized to show how to obtain a shorter reaching time. A stability criterion of the FO sliding mode dynamics is derived based on indirect approach to Lyapunov stability. posed control scheme are illustrated through numerical simulations.
mall unmanned aerial systems (UAS), also known as drones or unmanned aerial vehicles, have a rapidly growing role in research and practice in agriculture and natural resources. Here, we present the parameters and key limitations of the technology, summarize current regulations and cover examples of University of California research enabled by UAS technology. Will Suckow The Inspire 1 drone, made by DJI, flies with an RGB camera over the UC Berkeley Blue Oak Ranch Reserve in Santa Clara County. http://calag.ucanr.edu • JANUARY-MARCH 2017 5 Feature Andreas Anderson, an instructor with the Center for Information Technology Research in the Interest of Society at UC Merced, checks the control systems for a drone-mounted multispectral camera before a research flight in Merced County for a study on water stress in almond trees.
Control theory, once described as the “Physics of the 21st Century,” is pervading to almost all subjects of higher learning. However, it is a difficult topic for many students, especially when introduced at the undergraduate lower level. Providing hands-on experience is often a great aid for teaching difficult concepts, but for control theory forcing a hands-on component can distract from the learning if the students are unprepared. An effective control theory laboratory curriculum builds on the foundations of statics and dynamics, circuit theory, signal processing and programming course-work. However, undergraduate students have a limited educational experience and are typically lacking in one or more of those foundations. Coupled with the unfamiliarity of the common equipment found in teaching labs, students often find themselves overwhelmed and struggle with the setups, limiting their exposure to the topic of control theory. Some industry and education companies have introduced extensive control workstations to bring integrated control theory to a teaching laboratory; however these systems are expensive and specialized, limiting their reach and effectiveness. In this paper, a low-cost mechatronics control theory personal laboratory setup with a proposed curriculum is developed for undergraduate students that addresses their uncertain foundation and improves accessibility by introducing portability to maximize the learning outcomes.
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